[{"data":1,"prerenderedAt":982},["ShallowReactive",2],{"wiki-page-/en-us/wiki/2023-12-30-ros2-tutorial/ch13-2-can-tong-xin":3,"wiki-doc-items-/en-us/wiki/2023-12-30-ros2-tutorial/ch13-2-can-tong-xin":615,"language-switcher-data-/en-us/wiki/2023-12-30-ros2-tutorial/ch13-2-can-tong-xin":966,"wiki-i18n-paths-/en-us/wiki/2023-12-30-ros2-tutorial/ch13-2-can-tong-xin":981},{"id":4,"title":5,"body":6,"canonicalPath":595,"chapter":596,"chapterSort":597,"date":598,"description":153,"docI18nKey":599,"docKey":600,"docRoot":601,"docTitle":602,"extension":603,"i18nKey":604,"isBlogPost":605,"isWikiDoc":606,"isWikiIndex":605,"layout":607,"legacyPath":607,"locale":608,"localeSlug":609,"meta":610,"navigation":606,"path":595,"seo":611,"sourcePath":612,"sourceStem":604,"stem":613,"wikiDepth":160,"__hash__":614},"content/_i18n/en-us/wiki/2023-12-30-ros2-tutorial/ch13-2-CAN通信.md","CAN communication",{"type":7,"value":8,"toc":581},"minimark",[9,14,18,21,24,46,49,54,57,60,63,139,147,164,167,181,185,188,199,202,316,320,396,400,403,411,414,436,439,445,448,454,458,461,466,469,475,478,482,487,493,496,499,505,510,514,517,520,523,529,532,536,539,577],[10,11,13],"h2",{"id":12},"linux-can-communication","Linux CAN communication",[15,16,17],"p",{},"CAN communication is a very common bus communication method in robotics, vehicles, industrial control, and motor drives.",[15,19,20],{},"Compared to serial communication, CAN is better suited for multiple devices communicating on the same bus. For example, in a robot chassis, multiple motor drivers, a chassis control board, and sensor nodes may all be connected to the CAN bus.",[15,22,23],{},"In practical projects, CAN communication is common in:",[25,26,27,31,34,37,40,43],"ul",{},[28,29,30],"li",{},"Control motor driver",[28,32,33],{},"Read motor encoder feedback",[28,35,36],{},"Connect the chassis control board",[28,38,39],{},"Communication between multiple control nodes",[28,41,42],{},"Vehicle bus communication",[28,44,45],{},"Industrial equipment and motion control systems",[15,47,48],{},"For areas such as mobile robot chassis, motor control, and autonomous driving by-wire systems, CAN is a very important type of communication method.",[50,51,53],"h3",{"id":52},"what-is-can-communication","What is CAN communication?",[15,55,56],{},"CAN, full name Controller Area Network, is a multi-master bus communication protocol.",[15,58,59],{},"Unlike serial point-to-point communication, multiple nodes can be connected to the CAN bus. Each node can send messages, and other nodes determine whether to process the message based on the CAN ID.",[15,61,62],{},"Common concepts in CAN communication include:",[64,65,66,79],"table",{},[67,68,69],"thead",{},[70,71,72,76],"tr",{},[73,74,75],"th",{},"concept",[73,77,78],{},"Explanation",[80,81,82,91,99,107,115,123,131],"tbody",{},[70,83,84,88],{},[85,86,87],"td",{},"CAN ID",[85,89,90],{},"Used to identify the meaning or source of a CAN message frame.",[70,92,93,96],{},[85,94,95],{},"standard frame",[85,97,98],{},"11-bit CAN ID",[70,100,101,104],{},[85,102,103],{},"extended frame",[85,105,106],{},"29-bit CAN ID",[70,108,109,112],{},[85,110,111],{},"data area",[85,113,114],{},"Classic CAN frame has at most 8 bytes of data.",[70,116,117,120],{},[85,118,119],{},"CAN FD",[85,121,122],{},"An extended version of CAN that supports longer data fields and higher data rates.",[70,124,125,128],{},[85,126,127],{},"baud rate",[85,129,130],{},"Common values include 250K, 500K, and 1M.",[70,132,133,136],{},[85,134,135],{},"termination resistor",[85,137,138],{},"CAN bus typically requires 120Ω termination resistors at both ends.",[15,140,141,142,146],{},"In Linux, CAN devices are usually not device files like ",[143,144,145],"code",{},"/dev/ttyUSB0",", but are abstracted into network interfaces, for example:",[148,149,154],"pre",{"className":150,"code":151,"language":152,"meta":153,"style":153},"language-bash shiki shiki-themes github-light github-dark","can0\n","bash","",[143,155,156],{"__ignoreMap":153},[157,158,161],"span",{"class":159,"line":160},"line",1,[157,162,151],{"class":163},"sScJk",[15,165,166],{},"You can view it with the following command:",[148,168,170],{"className":150,"code":169,"language":152,"meta":153,"style":153},"ip link\n",[143,171,172],{"__ignoreMap":153},[157,173,174,177],{"class":159,"line":160},[157,175,176],{"class":163},"ip",[157,178,180],{"class":179},"sZZnC"," link\n",[50,182,184],{"id":183},"common-can-tools-and-libraries-for-linux","Common CAN Tools and Libraries for Linux",[15,186,187],{},"The core of CAN communication on Linux is SocketCAN.",[15,189,190,191,194,195,198],{},"SocketCAN is a CAN communication framework provided by the Linux kernel. It abstracts CAN devices into a form similar to network interfaces, for example ",[143,192,193],{},"can0",", ",[143,196,197],{},"can1",".",[15,200,201],{},"Common tools and libraries include:",[64,203,204,220],{},[67,205,206],{},[70,207,208,211,214,217],{},[73,209,210],{},"solution",[73,212,213],{},"type",[73,215,216],{},"Features",[73,218,219],{},"Suitable scenarios",[80,221,222,236,260,274,288,302],{},[70,223,224,227,230,233],{},[85,225,226],{},"SocketCAN",[85,228,229],{},"Linux native CAN interface",[85,231,232],{},"Linux standard solution: universal, stable, and commonly used in engineering.",[85,234,235],{},"Recommended as a primary learning path",[70,237,238,241,244,257],{},[85,239,240],{},"can-utils",[85,242,243],{},"SocketCAN command-line tool set",[85,245,246,247,194,250,194,253,256],{},"Provide tools such as ",[143,248,249],{},"candump",[143,251,252],{},"cansend",[143,254,255],{},"cangen",", etc.",[85,258,259],{},"Debugging CAN Bus",[70,261,262,265,268,271],{},[85,263,264],{},"libsocketcan",[85,266,267],{},"SocketCAN Helper Library",[85,269,270],{},"Easy to configure and manage the CAN interface",[85,272,273],{},"Use when configuring CAN parameters within the program.",[70,275,276,279,282,285],{},[85,277,278],{},"ros2_socketcan",[85,280,281],{},"ROS 2 Wrapper Library",[85,283,284],{},"Integrating SocketCAN into the ROS 2 ecosystem",[85,286,287],{},"Pure ROS 2 project or reference implementation",[70,289,290,293,296,299],{},[85,291,292],{},"ros2_canopen",[85,294,295],{},"ROS 2 CANopen protocol stack",[85,297,298],{},"Suitable for CANopen devices",[85,300,301],{},"When the motor driver uses the CANopen protocol,",[70,303,304,307,310,313],{},[85,305,306],{},"vendor SDK",[85,308,309],{},"vendor-provided driver library",[85,311,312],{},"bound to specific hardware",[85,314,315],{},"When using specific USB-CAN, PCIe-CAN devices",[50,317,319],{"id":318},"comparison-of-solutions","Comparison of Solutions",[64,321,322,334],{},[67,323,324],{},[70,325,326,328,331],{},[73,327,210],{},[73,329,330],{},"Advantages",[73,332,333],{},"Disadvantages",[80,335,336,346,356,366,376,386],{},[70,337,338,340,343],{},[85,339,226],{},[85,341,342],{},"Linux-native, general-purpose, stable, and ideal for long-term learning.",[85,344,345],{},"Need to understand socket programming and CAN frame structure.",[70,347,348,350,353],{},[85,349,240],{},[85,351,352],{},"Easy debugging, simple commands.",[85,354,355],{},"Mainly used for command line testing, not a complete project package.",[70,357,358,360,363],{},[85,359,264],{},[85,361,362],{},"Configuring the CAN interface is convenient.",[85,364,365],{},"Not the primary data communication solution.",[70,367,368,370,373],{},[85,369,278],{},[85,371,372],{},"Convenient integration with the ROS 2 ecosystem",[85,374,375],{},"After leaving ROS 2, reusability is poor.",[70,377,378,380,383],{},[85,379,292],{},[85,381,382],{},"Suitable for CANopen devices, complete protocol stack.",[85,384,385],{},"Only suitable for CANopen scenarios, learning cost is relatively high.",[70,387,388,390,393],{},[85,389,306],{},[85,391,392],{},"Good support for specific hardware",[85,394,395],{},"Poor generality, easily tied to a vendor.",[50,397,399],{"id":398},"this-tutorial-recommends-selecting","This tutorial recommends selecting",[15,401,402],{},"This tutorial recommends prioritizing:",[148,404,409],{"className":405,"code":407,"language":408,"meta":153},[406],"language-text","SocketCAN + can-utils\n","text",[143,410,407],{"__ignoreMap":153},[15,412,413],{},"The reason is:",[25,415,416,419,422,427,430],{},[28,417,418],{},"SocketCAN is the standard solution for CAN communication on Linux.",[28,420,421],{},"Independent of ROS 2, suitable for regular C++, OpenCV, Qt, embedded Linux projects",[28,423,424,426],{},[143,425,240],{}," is very suitable for debugging and verifying CAN devices.",[28,428,429],{},"Later, it can be packaged as a standard C++ driver.",[28,431,432,433],{},"Can naturally integrate with ",[143,434,435],{},"ros2_control hardware_interface",[15,437,438],{},"The recommended learning order is:",[148,440,443],{"className":441,"code":442,"language":408,"meta":153},[406],"1. 使用 ip link 配置 can0\n2. 使用 candump 接收 CAN 帧\n3. 使用 cansend 发送 CAN 帧\n4. 理解 struct can_frame\n5. 使用 C++ SocketCAN 进行收发\n6. 封装自己的 CanDriver 类\n7. 接入 ROS 2 或 ros2_control\n",[143,444,442],{"__ignoreMap":153},[15,446,447],{},"The recommended project structure is:",[148,449,452],{"className":450,"code":451,"language":408,"meta":153},[406],"上层项目：ROS 2 / OpenCV / Qt / 普通 C++ 程序\n        ↓\n自己封装的 CanDriver 类\n        ↓\nSocketCAN\n        ↓\ncan0\n        ↓\n电机驱动器 / STM32 / 底盘控制板\n",[143,453,451],{"__ignoreMap":153},[50,455,457],{"id":456},"relationship-with-ros-2","Relationship with ROS 2",[15,459,460],{},"Learning SocketCAN doesn't mean you don't need ROS 2.",[15,462,463,464,198],{},"In a ROS 2 project, you can encapsulate CAN communication as a regular C++ class, then use it in a ROS 2 node or ",[143,465,435],{},[15,467,468],{},"For example:",[148,470,473],{"className":471,"code":472,"language":408,"meta":153},[406],"ros2_control controller\n        ↓\nhardware_interface\n        ↓\n自己封装的 CanDriver\n        ↓\nSocketCAN\n        ↓\ncan0\n        ↓\n电机驱动器\n",[143,474,472],{"__ignoreMap":153},[15,476,477],{},"The advantage of this approach is that the CAN communication code is not tightly coupled with ROS 2. Even when working on standard C++ projects, Qt host computer applications, or OpenCV control programs in the future, the same CAN driver can still be reused.",[50,479,481],{"id":480},"when-to-use-ros2_socketcan","When to use ros2_socketcan",[15,483,484,486],{},[143,485,278],{}," is not unusable.",[15,488,489,490,492],{},"If the project itself is a pure ROS 2 architecture, and you want to quickly convert CAN frames into ROS 2 topics, then ",[143,491,278],{}," is an option worth considering.",[15,494,495],{},"However, for learning low-level drivers and long-term engineering reuse, it is still recommended to first master SocketCAN.",[15,497,498],{},"It can be understood this way:",[148,500,503],{"className":501,"code":502,"language":408,"meta":153},[406],"SocketCAN：底层能力\nros2_socketcan：ROS 2 封装\n",[143,504,502],{"__ignoreMap":153},[15,506,507,508,198],{},"First learn SocketCAN, then it will be easier to understand ",[143,509,278],{},[50,511,513],{"id":512},"when-to-use-ros2_canopen","When to use ros2_canopen",[15,515,516],{},"If your motor driver or industrial device uses the CANopen protocol, you can’t just treat it as ordinary CAN frame communication.",[15,518,519],{},"CANopen is a high-level protocol built on top of CAN, involving concepts such as object dictionary, PDO, SDO, NMT, etc.",[15,521,522],{},"In this case, consider learning:",[148,524,527],{"className":525,"code":526,"language":408,"meta":153},[406],"ros2_canopen\n",[143,528,526],{"__ignoreMap":153},[15,530,531],{},"But if your device only uses a custom CAN protocol, such as defining your own CAN IDs and data formats, then prioritizing learning SocketCAN is sufficient.",[50,533,535],{"id":534},"chapter-learning-objectives","Chapter learning objectives",[15,537,538],{},"After completing this chapter, you should be able to:",[25,540,541,544,550,556,565,568,571,574],{},[28,542,543],{},"Basic concepts of CAN communication",[28,545,546,547,549],{},"How to use the ",[143,548,193],{}," device on Linux",[28,551,552,553],{},"Configure CAN baud rate using ",[143,554,555],{},"ip link",[28,557,558,559,561,562,564],{},"Use ",[143,560,249],{}," and ",[143,563,252],{}," to debug the CAN bus",[28,566,567],{},"Understand concepts such as CAN ID, standard frame, extended frame, data field, etc.",[28,569,570],{},"Sending and Receiving CAN Frames Using C++ SocketCAN",[28,572,573],{},"Encapsulate CAN communication into reusable C++ classes",[28,575,576],{},"Lay the foundation for subsequent integration with ROS 2, ros2_control, and motor driver control.",[578,579,580],"style",{},"html pre.shiki code .sScJk, html code.shiki .sScJk{--shiki-default:#6F42C1;--shiki-dark:#B392F0}html .default .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .shiki span {color: var(--shiki-default);background: 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